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ROS/ROS2 package for the ICM-20948 with Seeeduino XIAO.
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README.md

ICM_20948 v2.0

ROS2 package for the ICM-20948 with Seeeduino XIAO.
Older version: old-devel

　　　　

1 Installation

1.1 Install ROS2 package

$ cd ~/colcon_ws/src
$ git clone -b humble-devel https://github.com/Alpaca-zip/icm_20948.git
$ wstool merge icm_20948/icm_20948.rosinstall
$ wstool update
$ cd ~/colcon_ws
$ rosdep install -r -y -i --from-paths .
$ colcon build

1.2 Download Arduino IDE

Get the latest version from the download page.

2 For Seeeduino XIAO

2.1 Interfacing with Seeeduino XIAO

ICM-20948 Seeeduino XIAO
GND GND
3V3 VIN
DA SDA
CL SCL

2.2 Preferences

After Arduino IDE is run, click File -> Preferences in the top menu of the IDE. When the Preferences window appears, copy and paste following link to the Additional Boards Manager URLs textbox.

https://files.seeedstudio.com/arduino/package_seeeduino_boards_index.json

2.3 Install the board package via Boards Manager

Click Tools -> Board -> Boards Manager..., print keyword "Seeeduino XIAO" in the searching blank. Here comes the "Seeed SAMD Boards". Install it.

2.4 Select your board and port

Click Tools -> Board, find "Seeeduino XIAO M0" and select it. Now you have already set up the board of Seeeduino XIAO for Arduino IDE. Then, Select the serial device of the Arduino board from Tools -> Port menu. This is likely to be COM3 or higher.

2.5 Download the Arduino library for ICM-20948

Click Sketch -> Include Library -> Manage Libraries..., print keyword " ICM 20948" in the searching blank. Here comes the "SparkFun 9DoF IMU Breakout - ICM-20948". Install it.

*Important note:
By default the DMP functionality is disabled in the library as the DMP firmware takes up 14301 Bytes of program memory.
To use the DMP, you will need to:

  1. Edit ICM_20948_C.h
  2. Uncomment line 29: #define ICM_20948_USE_DMP
  3. Save changes

If you are using Windows, you can find ICM_20948_C.h in:
Documents\Arduino\libraries\SparkFun_ICM-20948_ArduinoLibrary\src\util

2.6 Upload the sketch

Open the “firmware/firmware.ino”. Then, simply click the Upload button in the environment. Wait a few seconds and if the upload is successful, the message "Done uploading." will appear in the status bar.

3 Usage

To run the node with a different port, for example on /dev/ttyACM0, you must specify the “port” parameters on the command line:

$ ros2 launch icm_20948 run.launch.xml port:=/dev/ttyACM0 debug:=true